builtin_interfaces/Duration time_from_start
geometry_msgs/Pose pose
float32 longitudinal_velocity_mps
float32 lateral_velocity_mps
# acceleration_mps2 increases/decreases based on absolute vehicle motion and does not consider vehicle direction (forward/backward)
float32 acceleration_mps2
float32 heading_rate_rps
float32 front_wheel_angle_rad
float32 rear_wheel_angle_rad
